Heat milk and butter in a medium saucepan until warm (about 115 degrees F). Remove from heat; set aside.

In a large mixing bowl, stir together 2 cups of the flour, the yeast, sugar and salt. Pour in warm milk mixture; beat 2 minutes with an electric mixer. Add eggs and vanilla, beating 2 additional minutes.

Stir in enough of remaining flour to form a soft dough. Turn dough out on a floured surface; knead until dough is smooth and pushes back when dented with finger. Place dough in a greased bowl, turning once to grease surface. Cover with a towel and set aside in a warm place until dough has doubled in size. Alternately, cover bowl with plastic wrap and place in refrigerator overnight.

When dough has risen, punch down; knead until smooth. Roll dough out to form a 12"x21" rectangle, about ½-inch thick. Sprinkle with cinnamon sugar mixture and roll up like a jelly roll. Cut in 1-inch slices and place in 9" greased cake pans, cut side up. Cover with a towel and set aside in a warm place to rise, about 45 minutes. Bake at 375 degrees 15-20 minutes until golden brown.

Remove rolls from oven; set aside 10 minutes to cool; brush with melted butter. Mix frosting; spread on cinnamon rolls with a knife. Serve warm or at room temperature.

Cinnamon Sugar Filling:

2

cups dark brown sugar

2

teaspoons cinnamon

¼

cup unsalted butter

Stir together the brown sugar and cinnamon; cut butter in with a pastry blender until pea-size.